diff --git a/Inc/tim.h b/Inc/tim.h
index 6d3ffbd3..b11fa712 100644
--- a/Inc/tim.h
+++ b/Inc/tim.h
@@ -57,6 +57,7 @@
 /* USER CODE END Includes */
 
 extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
 extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim4;
 extern TIM_HandleTypeDef htim8;
@@ -68,12 +69,13 @@ extern TIM_HandleTypeDef htim8;
 extern void Error_Handler(void);
 
 void MX_TIM1_Init(void);
+void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
 void MX_TIM4_Init(void);
 void MX_TIM8_Init(void);
                     
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-                                
+                                                
 
 /* USER CODE BEGIN Prototypes */
 
diff --git a/Odrive.ioc b/Odrive.ioc
index a055dcc7..50bdd67b 100755
--- a/Odrive.ioc
+++ b/Odrive.ioc
@@ -86,9 +86,10 @@ KeepUserPlacement=false
 Mcu.Family=STM32F4
 Mcu.IP0=ADC1
 Mcu.IP1=ADC2
-Mcu.IP10=TIM3
-Mcu.IP11=TIM4
-Mcu.IP12=TIM8
+Mcu.IP10=TIM2
+Mcu.IP11=TIM3
+Mcu.IP12=TIM4
+Mcu.IP13=TIM8
 Mcu.IP2=ADC3
 Mcu.IP3=CAN1
 Mcu.IP4=FREERTOS
@@ -97,7 +98,7 @@ Mcu.IP6=RCC
 Mcu.IP7=SPI3
 Mcu.IP8=SYS
 Mcu.IP9=TIM1
-Mcu.IPNb=13
+Mcu.IPNb=14
 Mcu.Name=STM32F405RGTx
 Mcu.Package=LQFP64
 Mcu.Pin0=PC13-ANTI_TAMP
@@ -230,11 +231,11 @@ PB1.Signal=TIM8_CH3N
 PB10.GPIOParameters=GPIO_Label
 PB10.GPIO_Label=AUX_L
 PB10.Locked=true
-PB10.Signal=GPIO_Output
+PB10.Signal=S_TIM2_CH3
 PB11.GPIOParameters=GPIO_Label
 PB11.GPIO_Label=AUX_H
 PB11.Locked=true
-PB11.Signal=GPIO_Output
+PB11.Signal=S_TIM2_CH4
 PB12.GPIOParameters=GPIO_Label
 PB12.GPIO_Label=EN_GATE
 PB12.Locked=true
@@ -374,7 +375,7 @@ ProjectManager.StackSize=0x800
 ProjectManager.TargetToolchain=SW4STM32
 ProjectManager.ToolChainLocation=/home/oskar/ODriveFirmware
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL,2-MX_ADC1_Init-ADC1-false-HAL,3-MX_ADC2_Init-ADC2-false-HAL,4-MX_CAN1_Init-CAN1-false-HAL,5-MX_TIM1_Init-TIM1-false-HAL,6-MX_TIM8_Init-TIM8-false-HAL,7-MX_TIM3_Init-TIM3-false-HAL,8-MX_TIM4_Init-TIM4-false-HAL,9-MX_SPI3_Init-SPI3-false-HAL,10-MX_ADC3_Init-ADC3-false-HAL,11-SystemClock_Config-RCC-false-HAL
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL,2-MX_ADC1_Init-ADC1-false-HAL,3-MX_ADC2_Init-ADC2-false-HAL,4-MX_CAN1_Init-CAN1-false-HAL,5-MX_TIM1_Init-TIM1-false-HAL,6-MX_TIM8_Init-TIM8-false-HAL,7-MX_TIM3_Init-TIM3-false-HAL,8-MX_TIM4_Init-TIM4-false-HAL,9-MX_SPI3_Init-SPI3-false-HAL,10-MX_ADC3_Init-ADC3-false-HAL,11-SystemClock_Config-RCC-false-HAL,12-MX_TIM2_Init-TIM2-false-HAL
 RCC.48MHZClocksFreq_Value=48000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -460,6 +461,10 @@ SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2 CH2N
 SH.S_TIM1_CH2.ConfNb=1
 SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3 CH3N
 SH.S_TIM1_CH3.ConfNb=1
+SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
+SH.S_TIM2_CH3.ConfNb=1
+SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
+SH.S_TIM2_CH4.ConfNb=1
 SH.S_TIM3_CH1.0=TIM3_CH1,Encoder_Interface
 SH.S_TIM3_CH1.ConfNb=1
 SH.S_TIM3_CH2.0=TIM3_CH2,Encoder_Interface
@@ -497,6 +502,15 @@ TIM1.OffStateIDLEMode=TIM_OSSI_ENABLE
 TIM1.OffStateRunMode=TIM_OSSR_ENABLE
 TIM1.Period=TIM_PERIOD_CLOCKS
 TIM1.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
+TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM2.CounterMode=TIM_COUNTERMODE_CENTERALIGNED3
+TIM2.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,CounterMode,Period,OCMode_PWM-PWM Generation3 CH3,OCMode_PWM-PWM Generation4 CH4,OCPolarity_3,Pulse-PWM Generation4 CH4
+TIM2.OCMode_PWM-PWM\ Generation3\ CH3=TIM_OCMODE_PWM2
+TIM2.OCMode_PWM-PWM\ Generation4\ CH4=TIM_OCMODE_PWM2
+TIM2.OCPolarity_3=TIM_OCPOLARITY_LOW
+TIM2.Period=TIM_PERIOD_CLOCKS
+TIM2.Pulse-PWM\ Generation4\ CH4=TIM_PERIOD_CLOCKS+1
 TIM3.EncoderMode=TIM_ENCODERMODE_TI12
 TIM3.IC1Filter=4
 TIM3.IC1Polarity=TIM_ICPOLARITY_RISING
diff --git a/Src/gpio.c b/Src/gpio.c
index 23707aa3..a14d7230 100644
--- a/Src/gpio.c
+++ b/Src/gpio.c
@@ -81,7 +81,7 @@ void MX_GPIO_Init(void)
   HAL_GPIO_WritePin(GPIOC, M1_DC_CAL_Pin|M0_DC_CAL_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, AUX_L_Pin|AUX_H_Pin|EN_GATE_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(EN_GATE_GPIO_Port, EN_GATE_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pins : PCPin PCPin PCPin PCPin */
   GPIO_InitStruct.Pin = M0_nCS_Pin|M1_nCS_Pin|M1_DC_CAL_Pin|M0_DC_CAL_Pin;
@@ -96,12 +96,12 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PBPin PBPin PBPin */
-  GPIO_InitStruct.Pin = AUX_L_Pin|AUX_H_Pin|EN_GATE_Pin;
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = EN_GATE_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+  HAL_GPIO_Init(EN_GATE_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = M0_ENC_Z_Pin;
diff --git a/Src/main.c b/Src/main.c
index 0156ed10..344064e0 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -102,6 +102,7 @@ int main(void)
   MX_TIM4_Init();
   MX_SPI3_Init();
   MX_ADC3_Init();
+  MX_TIM2_Init();
 
   /* Initialize interrupts */
   MX_NVIC_Init();
diff --git a/Src/tim.c b/Src/tim.c
index a601e4d1..1cd9d28a 100644
--- a/Src/tim.c
+++ b/Src/tim.c
@@ -70,6 +70,7 @@ void OC4_PWM_Override(TIM_HandleTypeDef* htim) {
 /* USER CODE END 0 */
 
 TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim4;
 TIM_HandleTypeDef htim8;
@@ -158,6 +159,48 @@ void MX_TIM1_Init(void)
 
   HAL_TIM_MspPostInit(&htim1);
 
+}
+/* TIM2 init function */
+void MX_TIM2_Init(void)
+{
+  TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_OC_InitTypeDef sConfigOC;
+
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 0;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
+  htim2.Init.Period = TIM_PERIOD_CLOCKS;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigOC.OCMode = TIM_OCMODE_PWM2;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  sConfigOC.Pulse = TIM_PERIOD_CLOCKS+1;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  HAL_TIM_MspPostInit(&htim2);
+
 }
 /* TIM3 init function */
 void MX_TIM3_Init(void)
@@ -338,6 +381,22 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
   }
 }
 
+void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
+{
+
+  if(tim_pwmHandle->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspInit 0 */
+
+  /* USER CODE END TIM2_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM2_CLK_ENABLE();
+  /* USER CODE BEGIN TIM2_MspInit 1 */
+
+  /* USER CODE END TIM2_MspInit 1 */
+  }
+}
+
 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
 {
 
@@ -424,6 +483,27 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 
   /* USER CODE END TIM1_MspPostInit 1 */
   }
+  else if(timHandle->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspPostInit 0 */
+
+  /* USER CODE END TIM2_MspPostInit 0 */
+  
+    /**TIM2 GPIO Configuration    
+    PB10     ------> TIM2_CH3
+    PB11     ------> TIM2_CH4 
+    */
+    GPIO_InitStruct.Pin = AUX_L_Pin|AUX_H_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM2_MspPostInit 1 */
+
+  /* USER CODE END TIM2_MspPostInit 1 */
+  }
   else if(timHandle->Instance==TIM8)
   {
   /* USER CODE BEGIN TIM8_MspPostInit 0 */
@@ -493,6 +573,22 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
   }
 }
 
+void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
+{
+
+  if(tim_pwmHandle->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspDeInit 0 */
+
+  /* USER CODE END TIM2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM2_CLK_DISABLE();
+  }
+  /* USER CODE BEGIN TIM2_MspDeInit 1 */
+
+  /* USER CODE END TIM2_MspDeInit 1 */
+}
+
 void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
 {